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Only enable follow-me test if the improved followme' parameter exists #1847

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merged 2 commits into from
Jul 8, 2022
Merged

Only enable follow-me test if the improved followme' parameter exists #1847

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1494445
Only enable follow-me test if the improved followme' parameter exists
junwoo091400 Jul 8, 2022
ce51a11
Fix style
JonasVautherin Jul 8, 2022
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45 changes: 18 additions & 27 deletions src/integration_tests/follow_me.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -11,15 +11,14 @@
#include "plugins/action/action.h"
#include "plugins/follow_me/follow_me.h"
#include "plugins/info/info.h"
#include "plugins/param/param.h"

using namespace mavsdk;
using namespace std::chrono;
using namespace std::this_thread;

/* Updated FollowMe only works from PX4 v1.13, as it went through refactoring */
const int32_t PX4_SW_MAJOR_MINIMUM = 1;
const int32_t PX4_SW_MINOR_MINIMUM = 13;
bool autopilot_sw_ver_minimum_satisfied(const std::shared_ptr<Info> info);
/* Check if the autopilot supports improved follow me */
bool autopilot_has_improved_followme(const std::shared_ptr<Param> param);

/* Auxilary Functions */
void print(const FollowMe::Config& config);
Expand All @@ -45,9 +44,10 @@ TEST_F(SitlTest, PX4FollowMeOneLocation)
auto telemetry = std::make_shared<Telemetry>(system);
auto follow_me = std::make_shared<FollowMe>(system);
auto action = std::make_shared<Action>(system);
auto info = std::make_shared<Info>(system);
auto param = std::make_shared<Param>(system);

if (!autopilot_sw_ver_minimum_satisfied(info)) {
// Skip the test if the Autopilot doesn't support the improved Follow Me (in MAVSDK v2)
if (!autopilot_has_improved_followme(param)) {
GTEST_SKIP();
}

Expand Down Expand Up @@ -138,9 +138,10 @@ TEST_F(SitlTest, PX4FollowMeMultiLocationWithConfig)
auto telemetry = std::make_shared<Telemetry>(system);
auto follow_me = std::make_shared<FollowMe>(system);
auto action = std::make_shared<Action>(system);
auto info = std::make_shared<Info>(system);
auto param = std::make_shared<Param>(system);

if (!autopilot_sw_ver_minimum_satisfied(info)) {
// Skip the test if the Autopilot doesn't support the improved Follow Me (in MAVSDK v2)
if (!autopilot_has_improved_followme(param)) {
GTEST_SKIP();
}

Expand Down Expand Up @@ -224,27 +225,17 @@ FollowMe::TargetLocation create_target_location(double latitude_deg, double long
return location;
}

bool autopilot_sw_ver_minimum_satisfied(const std::shared_ptr<Info> info)
bool autopilot_has_improved_followme(const std::shared_ptr<Param> param)
{
EXPECT_TRUE(poll_condition_with_timeout(
[&]() { return info->get_version().first == Info::Result::Success; },
std::chrono::seconds(5)));

// Check PX4 version running and if too low, skip the test
std::pair<Info::Result, Info::Version> version_result = info->get_version();
EXPECT_EQ(version_result.first, Info::Result::Success);

if (version_result.second.flight_sw_major < PX4_SW_MAJOR_MINIMUM) {
return false; // Major version not satisfied

} else if (version_result.second.flight_sw_major > PX4_SW_MAJOR_MINIMUM) {
return true; // Major version satisfied

} else if (version_result.second.flight_sw_minor >= PX4_SW_MINOR_MINIMUM) {
return true; // Major version same, minor version satisfied
// Check if the newly added parameter in the improved follow-me exists
// Improved Follow-Me PR: https://github.com/PX4/PX4-Autopilot/pull/18026
const std::pair<Param::Result, float> get_result = param->get_param_float("FLW_TGT_MAX_VEL");

if (get_result.first == Param::Result::Success) {
return true;
} else {
return false;
}

return false;
}

void send_location_updates(std::shared_ptr<FollowMe> follow_me, size_t count, float rate)
Expand Down